{"id":"https://openalex.org/W7128701936","doi":"https://doi.org/10.1007/s10846-026-02364-2","title":"A Multi-Module Perception-Based Robot Dynamic Target Following Method\u2014Collaboration of Improved KCF Tracking, Distance Mapping Function, and Obstacle Avoidance","display_name":"A Multi-Module Perception-Based Robot Dynamic Target Following Method\u2014Collaboration of Improved KCF Tracking, Distance Mapping Function, and Obstacle Avoidance","publication_year":2026,"publication_date":"2026-02-12","ids":{"openalex":"https://openalex.org/W7128701936","doi":"https://doi.org/10.1007/s10846-026-02364-2"},"language":"en","primary_location":{"id":"doi:10.1007/s10846-026-02364-2","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-026-02364-2","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent & Robotic Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.1007/s10846-026-02364-2","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5031593111","display_name":"Xiaohong Lan","orcid":null},"institutions":[{"id":"https://openalex.org/I126924076","display_name":"Chongqing Normal University","ror":"https://ror.org/01dcw5w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I126924076"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaohong Lan","raw_affiliation_strings":["College of Computer and Information Science, Chongqing Normal University, Chongqing, 401331, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computer and Information Science, Chongqing Normal University, Chongqing, 401331, China","institution_ids":["https://openalex.org/I126924076"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100409994","display_name":"Jian Zhang","orcid":"https://orcid.org/0000-0002-7240-3541"},"institutions":[{"id":"https://openalex.org/I126924076","display_name":"Chongqing Normal University","ror":"https://ror.org/01dcw5w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I126924076"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jian Zhang","raw_affiliation_strings":["College of Computer and Information Science, Chongqing Normal University, Chongqing, 401331, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computer and Information Science, Chongqing Normal University, Chongqing, 401331, China","institution_ids":["https://openalex.org/I126924076"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5125737205","display_name":"Miao Sun","orcid":null},"institutions":[{"id":"https://openalex.org/I126924076","display_name":"Chongqing Normal University","ror":"https://ror.org/01dcw5w74","country_code":"CN","type":"education","lineage":["https://openalex.org/I126924076"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Miao Sun","raw_affiliation_strings":["College of Computer and Information Science, Chongqing Normal University, Chongqing, 401331, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Computer and Information Science, Chongqing Normal University, Chongqing, 401331, China","institution_ids":["https://openalex.org/I126924076"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5100409994"],"corresponding_institution_ids":["https://openalex.org/I126924076"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":{"value":2390,"currency":"EUR","value_usd":2990},"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.22261325,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"112","issue":"1","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.6334999799728394,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.6334999799728394,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10331","display_name":"Video Surveillance and Tracking Methods","score":0.05829999968409538,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10709","display_name":"Social Robot Interaction and HRI","score":0.03009999915957451,"subfield":{"id":"https://openalex.org/subfields/3207","display_name":"Social Psychology"},"field":{"id":"https://openalex.org/fields/32","display_name":"Psychology"},"domain":{"id":"https://openalex.org/domains/2","display_name":"Social Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.5489000082015991},{"id":"https://openalex.org/keywords/monocular","display_name":"Monocular","score":0.5073000192642212},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4959999918937683},{"id":"https://openalex.org/keywords/monocular-vision","display_name":"Monocular vision","score":0.4749999940395355},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.4690999984741211},{"id":"https://openalex.org/keywords/perspective","display_name":"Perspective (graphical)","score":0.46160000562667847},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.446399986743927},{"id":"https://openalex.org/keywords/distortion","display_name":"Distortion (music)","score":0.4097000062465668},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.39989998936653137}],"concepts":[{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.8130000233650208},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7378000020980835},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6449000239372253},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.5489000082015991},{"id":"https://openalex.org/C65909025","wikidata":"https://www.wikidata.org/wiki/Q1945033","display_name":"Monocular","level":2,"score":0.5073000192642212},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4959999918937683},{"id":"https://openalex.org/C158829959","wikidata":"https://www.wikidata.org/wiki/Q1640606","display_name":"Monocular vision","level":2,"score":0.4749999940395355},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.4690999984741211},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.46160000562667847},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.446399986743927},{"id":"https://openalex.org/C126780896","wikidata":"https://www.wikidata.org/wiki/Q899871","display_name":"Distortion (music)","level":4,"score":0.4097000062465668},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.39989998936653137},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.39899998903274536},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.38269999623298645},{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.35600000619888306},{"id":"https://openalex.org/C23903533","wikidata":"https://www.wikidata.org/wiki/Q17122739","display_name":"Reprojection error","level":3,"score":0.3314000070095062},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.3149000108242035},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.3149000108242035},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.3075999915599823},{"id":"https://openalex.org/C51399673","wikidata":"https://www.wikidata.org/wiki/Q504027","display_name":"Lidar","level":2,"score":0.3070000112056732},{"id":"https://openalex.org/C36464697","wikidata":"https://www.wikidata.org/wiki/Q451553","display_name":"Visualization","level":2,"score":0.2939000129699707},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.28690001368522644},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.275299996137619},{"id":"https://openalex.org/C56461940","wikidata":"https://www.wikidata.org/wiki/Q970687","display_name":"Eye tracking","level":2,"score":0.27070000767707825},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.26429998874664307},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.2612999975681305},{"id":"https://openalex.org/C114744707","wikidata":"https://www.wikidata.org/wiki/Q218533","display_name":"RANSAC","level":3,"score":0.2596000134944916},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.2572999894618988}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1007/s10846-026-02364-2","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-026-02364-2","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent & Robotic Systems","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1007/s10846-026-02364-2","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-026-02364-2","pdf_url":null,"source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent & Robotic Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":45,"referenced_works":["https://openalex.org/W818325216","https://openalex.org/W1612997784","https://openalex.org/W1857884451","https://openalex.org/W1964846093","https://openalex.org/W2033819227","https://openalex.org/W2076776465","https://openalex.org/W2117211893","https://openalex.org/W2150066425","https://openalex.org/W2152864241","https://openalex.org/W2154889144","https://openalex.org/W2158592639","https://openalex.org/W2163061173","https://openalex.org/W2167667767","https://openalex.org/W2470394683","https://openalex.org/W2520477759","https://openalex.org/W2521662433","https://openalex.org/W2549200707","https://openalex.org/W2557641257","https://openalex.org/W2565639579","https://openalex.org/W2746418572","https://openalex.org/W2794744029","https://openalex.org/W2799058067","https://openalex.org/W2807313419","https://openalex.org/W2898200825","https://openalex.org/W2916780012","https://openalex.org/W2927438889","https://openalex.org/W2955639361","https://openalex.org/W2966759264","https://openalex.org/W2982083293","https://openalex.org/W3035571898","https://openalex.org/W3090155371","https://openalex.org/W3196138626","https://openalex.org/W4200004515","https://openalex.org/W4214759957","https://openalex.org/W4292254614","https://openalex.org/W4306690001","https://openalex.org/W4312751983","https://openalex.org/W4315471977","https://openalex.org/W4323864281","https://openalex.org/W4361975027","https://openalex.org/W4385325374","https://openalex.org/W4401417422","https://openalex.org/W4403721817","https://openalex.org/W4409263749","https://openalex.org/W4409965874"],"related_works":[],"abstract_inverted_index":{"To":[0],"address":[1],"visual":[2],"tracking":[3,146],"drift":[4],"caused":[5],"by":[6,79],"scale":[7,187],"variation":[8],"and":[9,16,45,86,120,133,151,189,199,212],"occlusion,":[10,186],"large":[11],"errors":[12],"of":[13,74,197,204],"monocular":[14,94],"ranging,":[15],"the":[17,75,93,99,103,161,164,168],"insufficient":[18],"obstacle-avoidance":[19],"response":[20],"in":[21,181],"robot":[22,140,183],"dynamic":[23,190],"target":[24,54,131],"following,":[25],"this":[26],"paper":[27],"proposes":[28],"a":[29,35,41,46,65,87,121,137,193,200],"multimodal":[30],"perception\u2013based":[31],"following":[32,132,194],"framework.":[33],"First,":[34],"KCF":[36],"tracker":[37],"is":[38,70,112,126],"enhanced":[39],"with":[40,160,185],"closed-loop":[42],"scale-adaptive":[43],"mechanism":[44],"four-level":[47],"occlusion":[48],"handling":[49],"scheme,":[50],"so":[51],"that":[52],"robust":[53],"localization":[55],"can":[56],"still":[57],"be":[58],"maintained":[59],"under":[60],"severe":[61],"appearance":[62],"changes.":[63],"Second,":[64],"camera-calibration\u2013driven":[66],"distance":[67,95,202],"mapping":[68],"function":[69],"constructed":[71],"on":[72,136,143,152],"top":[73],"perspective":[76],"projection":[77],"model":[78],"introducing":[80],"geometric":[81],"distortion":[82],"compensation,":[83,85],"pose":[84],"learnable":[88],"bias":[89],"term,":[90],"which":[91],"brings":[92],"error":[96],"down":[97],"to":[98,114,128,174],"centimeter":[100],"level":[101],"within":[102],"1\u20134":[104],"m":[105,207],"working":[106],"range.":[107],"Third,":[108],"LiDAR":[109],"point":[110],"cloud":[111],"used":[113],"build":[115],"an":[116,153],"obstacle":[117,134],"threat":[118],"model,":[119],"semantic":[122],"TEB":[123],"local":[124],"planner":[125],"employed":[127],"achieve":[129],"coordinated":[130],"avoidance":[135],"CPU-only":[138],"mobile":[139],"platform.":[141],"Experiments":[142],"public":[144],"long-term":[145],"benchmarks":[147],"(LaSOT,":[148],"TrackingNet,":[149],"GOT-10k)":[150],"indoor":[154],"TurtleBot3":[155],"platform":[156],"show":[157],"that,":[158],"compared":[159],"original":[162],"KCF,":[163],"proposed":[165],"method":[166],"improves":[167],"LaSOT":[169],"AUC":[170],"from":[171],"~":[172],"20%":[173],"39.1%":[175],"while":[176],"keeping":[177],"real-time":[178],"performance,":[179],"and,":[180],"real":[182],"scenarios":[184],"change,":[188],"obstacles,":[191],"achieves":[192],"success":[195],"rate":[196],"95.2%":[198],"calibrated":[201],"MAE":[203],"about":[205],"0.027":[206],"(\u22482.7%),":[208],"demonstrating":[209],"strong":[210],"practicality":[211],"reproducibility.":[213]},"counts_by_year":[],"updated_date":"2026-07-18T07:39:51.176621","created_date":"2026-02-13T00:00:00"}